6. MODBUS REGISTERS
6 - 12
Address
Name and function
Data
type
Read/
write
Initial value
Range
Unit
Saved
to EEP-
ROM
Para-
meter
No. of
Points/
No. of
Registers
Continuous
read/
continuous
write
606D Speed reached judgment width (Velocity
window)
In the profile velocity mode (pv), when the time
set with Velocity window time (606Eh) has
elapsed with the current speed equal to or
lower than the setting value of this object, Bit
10 of Statusword (6041h) is turned on.
2
bytes
Read/
write
2000 0000h
to
FFFFh
0.01
r/min
PT67 1
Impossible
606E Speed reached judgment time (Velocity
window time)
Refer to Velocity window (606Dh).
2
bytes
Read/
write
10 0000h
to
FFFFh
ms
PT68 1
Impossible
606F Zero speed (Velocity threshold)
In the profile velocity mode (pv), when the time
set with Velocity threshold time (6070h) has
elapsed with the current speed exceeding the
setting value of this object, Bit 12 of
Statusword (6041h) is turned off.
2
bytes
Read/
write
5000 0000h
to
FFFFh
0.01
r/min
PT63 1
Impossible
6070 Zero speed judgment time (Velocity threshold
time)
Refer to Velocity threshold (606Fh).
2
bytes
Read/
write
10 0000h
to
FFFFh
ms
PT64 1
Impossible
6071 Command torque (Target torque)
Set the torque command used in the profile
torque mode (tq).
2
bytes
Read/
write
0 8000h
to
7FFFh
0.1
%
1
Impossible
6072 Maximum torque (nominal value) (Max torque)
The maximum torque of the servo motor is
returned. The value matches with the
maximum torque listed in "HG-KN_/HG-SN_
Servo Motor Instruction Manual".
2
bytes
Read/
write
0000h
to
FFFFh
0.1
%
1
Impossible
6074 Internal torque command (Torque demand
value)
The torque command is returned.
2
bytes
Read 0 8000h
to
7FFFh
0.1
%
1
Impossible
6077 Current torque (Torque actual value)
The current torque is returned. The read data
is in the unit of 0.1%.
2
bytes
Reading 8000h
to
7FFFh
0.1
%
1
Impossible
607A Position command (absolute/incremental)
(Target position)
In the profile position mode (pp), the range is
limited depending on the unit.
[Setting range]
degree: -360000 to 360000
Other than degree: -999999 to 999999
4
bytes
Read/
write
0 80000000h
to
7FFFFFFFh
pos
units
2
Impossible
607B Command value limit (Position range limit)
The number of entries is returned.
1
bytes
Reading
2
00h to 02h
5
Impossible
Command value limit (lower limit) (Min position
range limit)
Set the range for limiting the command
position (lower limit value). The settable values
vary depending on the setting of [Pr. PT01].
[Pr. PT01] = _ 2 _ _ (degree): 00000000h to
00057E3Fh (0 to 359999)
[Pr. PT01] = _ 3 _ _ (pulse): 80000000h to
7FFFFFFFh (-2147483648 to 2147483647)
4
bytes
Read/
write
00000000h
(degree)
80000000h
(pulse)
80000000h
to
7FFFFFFFh
pos
units
Command value limit (upper limit) (Max
position range limit)
Set the range for limiting the command
position (upper limit value). The settable
values vary depending on the setting of [Pr.
PT01].
[Pr. PT01] = _ 2 _ _ (degree): 00000000h to
00057E3Fh (0 to 359999)
[Pr. PT01] = _ 3 _ _ (pulse): 80000000h to
7FFFFFFFh (-2147483648 to 2147483647)
4
bytes
Read/
write
00057E3Fh
(degree)
7FFFFFFFh
(pulse)
80000000h
to
7FFFFFFFh
pos
units
607C Home position (Home offset)
The home position is returned. Only reading
the value is available.
Do not perform writing because doing so
causes an error.
4
bytes
Read/
write
0 80000000h
to
7FFFFFFFh
pos
units
2
Impossible
Содержание MELSERVO-JE MR-JE-C
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